semi autonomous gps guided solar powered vehicle.
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Transcript of semi autonomous gps guided solar powered vehicle.
DESIGN AND DEVELOPMENT OF A SOLAR POWERED GPS
GUIDED AUTONOMOUS VEHICLE USING SYSTEMS
APPROACHGAUTAM KUMAR (II yr), NISHANT GOYAL (II yr),
RAHUL KUMAR (II yr), DR. D. BHAGWAN DAS
Microprocessor Lab, DEI
INTRODUCTION
Design and development of an autonomous vehicle with special features such as:
GPS Based Navigation
Solar Powered
Obstacle Avoidance
ISSUES INVOLVED
An autonomous vehicle needs to do all and even more than what a manned vehicle will do such as tackling complex situations. The things of concern are:
Inaccuracy of sensors
Efficient management of power
Slow data transfer rate of GPS
Autonomous Vehicle
Mechanical System
Car frame
Motors
Control System
Micro controller
Wireless Transceive
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Sensors
Navigation System
GPS
Remote Computer
Power System
Solar Panel
Regulated Supplies
Variables of the
system
Speed
Vehicle Balance
TimeProximity
from obstacles
Direction
Position•Longitude•Latitude•Altitude
Control system
Send data()Receive data()Extract coordinates()Extract time()
Navigation systemObstacle avoid()Turn(angle)Move forward(dist)Move backward(dist)Stop()
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Power system
Solar panelsRegulated supply
3.5 Volts6 volts7.8 volts
PRIMITIVES
MECHANICAL SYSTEM
Car frame Fiber body toy car
Motors Rear wheel drive motor: 6 volt, 1400 rpm Stepper motor: 6 volt
Work accomplished Module for stepper motor control
developed and implemented Motors attached to the car frame
CONTROL SYSTEMS
8051 Microcontroller: 4 KB ROM, 128 B RAM 2 timers, 32 I/O pins 1 Serial port 6 interrupt sources
Wireless transceiver Transmitter-receiver system to send and
receive data Sensors
Proximity sensor measures the proximity of obstacle
Wheel encoders measure the distance and speed
Gyroscopic sensors measures the balance of vehicle
CONTROL SYSTEM
Modules completed and tested on 8051 microcontroller for moving the vehicle forward, backward to turn left and right
Testing of completed modules on wireless transceiver accomplished for sending and receiving data from remote computer
Work in progress: Development of modules for obstacle avoidance
based on sensors Implementation of fuzzy logic for compensating
inaccuracy of sensors
NAVIGATION SYSTEM
GPS: Global Positioning System Links with satellites Receives geological coordinates, time,
date, etc in NMEA format Supports 9600 and 19200 baud rates
Remote computer Secondary control to the vehicle
NAVIGATION SYSTEM
Software module developed and tested for Interpretation of data received through
GPS Extraction of coordinates from GPS data
Work under progress Implementation of algorithms for
compensating Limited data transfer rate and range of
GPS Slow data transfer rate of wireless
transceiver
POWER SYSTEM Solar panels
15 Watt 5 AH per day
Battery Rechargeable lead battery 12 volts, 4.5 AH
Regulated supply for Motors: 6 volts Microcontroller: 7.8 volts GPS: 3.5 volts Transceiver: 5 volts
POWER SYSTEM
Solar powered vehicle already developed in the Faculty Of Engineering
Electronic circuitry of regulated supplies designed and tested
Microcontroller GPS Motors
Sensors Transceivers
Satellites Remote computer
CONTROL FLOW
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FLOW OF LIFE IN THE VEHICLE
Feed the coordinates of the final position
Coordinate of initial position known through GPS
Vehicle starts moving following the map
Invokes obstacle avoidance algorithm when required
Choose next possible path Finally stop at the destination
CONCLUSION
Autonomous vehicle under development using systems approach
Autonomous vehicle treated as system and subsystems identified
Subsystems successfully developed and tested
Physical integration of these subsystems and realization in progress
FUTURE PLANS
The autonomous vehicle under development here is just a prototype
Ultimate aim is to employ such a 4/5 seater vehicle to serve old and disabled inside the community of DAYALBAGH
REFERENCE
Md. Ali Mazidi, J. G. Mazidi, R. D. McKinlay. The 8051 Microcontroller and Embedded Systems using Assembly and C, Second Edition
Web page of The National Program on Technology Enhanced Learning (NPTEL) http://nptel.iitm.ac.in/
Web page of Atmel corporation http://www.atmel.com/